JP3844573B2 - Work processing control method in panel vendor - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is a method for controlling workpiece processing in a panel vendor, in particular, in a panel vendor in which a workpiece is sandwiched between a top die and a bottom die and bent by a bend beam, reverse bending hemming is possible by placing a reverse bent flange on the bottom die. And a workpiece machining control method that expands the workpiece machining range.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, panel benders called ironing and bending machines have been used in the case of mass production of products by automatically bending a workpiece.
[0003]
This panel vendor has a configuration shown in FIG. 6A, for example, and sandwiches the workpiece W between the top die 31 and the bottom die 32, and bends the workpiece W by turning the bend beam 33 up and down.
[0004]
That is, as shown in FIG. 3B, the panel bender 30 has a bottom die 32 that is a lower pressing plate and a top die 31 that is an upper pressing plate, and the top die 31 is a Z-axis 22 that is driven by a motor. Is supported by a clamp beam 39 that moves up and down.
[0005]
Further, the bend beam 33 has an upper bending blade 33A and a lower bending blade 33B, both of which are moved in the front-rear direction and the vertical direction by the A-axis 20 and the D-axis 21 driven by a motor.
[0006]
Further, the panel vendor 30 includes a manipulator 34 which is a workpiece transfer / positioning device at the rear thereof.
[0007]
The manipulator 34 grips the workpiece W in the vertical direction by the rotation shaft 35 and supplies the workpiece W to the panel vendor 30 while performing rotation indexing of the side to be processed. The manipulator 34 can be positioned to the panel vendor side by a drive system including a motor 7C, a ball screw 37 (Y axis), and a nut 36.
[0008]
In the panel vendor having such a configuration, there are a normal bending process and a reverse bending process for processing the workpiece W.
[0009]
In the forward bending process, as shown in FIG. 7A, the tip end portion of the workpiece W sandwiched between the top die 31 and the bottom die 32 is bent upward by the lower bending blade 33B of the bend beam 33 to process the flange F1. It is a method.
[0010]
If the manipulator 34 is moved backward, the flange F1 that has been bent forward can be placed on the bottom die 32 (the middle diagram of FIG. 7A), and further, the top die 31 can be lowered by moving it downward. If the flange F1 is crushed, the normal bending hemming process can be performed (the right view of FIG. 7A).
[0011]
On the other hand, in the reverse bending process, as shown in FIG. 7B, the tip end of the workpiece W sandwiched between the top die 31 and the bottom die 32 is bent downward by the upper bending blade 33A of the bend beam 33, and the flange F2 is bent. It is a processing method.
[0012]
[Problems to be solved by the invention]
However, in the case of the conventional reverse bending method shown in FIG. 7 (B), unlike the normal bending method (the middle diagram in FIG. 7 (A)), the reversely bent flange F2 is placed on the bottom die 32. There is a problem that cannot be done.
[0013]
That is, conventionally, when the reversely bent flange F2 is to be placed on the bottom die 32, there are the following two movement patterns of the bend beam 33.
[0014]
In the first movement pattern, as shown in FIG. 8A, first, the lower bending blade 33B of the bend beam 33 is moved directly below the reversely bent flange F2, and then the D axis 21 (FIG. B)) only is moved to raise the bend beam 33.
[0015]
However, the D-axis 21 is an eccentric shaft. Even if only the D-axis 21 is moved, the lower bending blade 33B does not move linearly but performs an arc motion, so that it interferes with the bottom die 32 and the reversely bent flange F2 is moved to the bottom die. 32 can not be put on. As a result, reverse bending hemming processing (corresponding to the right diagram in FIG. 7A) cannot be performed, and the processing range is narrowed.
[0016]
In the second movement pattern, as shown in FIG. 8B, first, the lower bending blade 33B of the bend beam 33 is moved to a position away from the reversely bent flange F2, and then the D axis 21. The bend beam 33 is raised by moving only (FIG. 6B).
[0017]
However, as described above, the D-axis 21 is an eccentric shaft, and even if only the D-axis 21 is moved, the lower bending blade 33B does not move linearly but performs an arc motion, so that the workpiece W in contact with the lower bending blade 33B. Slips and reversely bent flange F2 falls to the back side of lower bending blade 33B.
[0018]
Therefore, the reversely bent flange F2 cannot be placed on the bottom die 32. As a result, reverse bending hemming (corresponding to the right diagram in FIG. 7A) is impossible, and the processing range is narrowed.
[0019]
That is, conventionally, since the bend beam 33 is moved only by the D axis 21, the reversely bent flange F <b> 2 cannot be placed on the bottom die 32.
[0020]
An object of the present invention is to enable reverse bending hemming by expanding a reversely bent hemming by placing a reversely bent flange on a bottom die in a panel bender.
[0021]
[Means for Solving the Problems]
In order to solve the above problems, the present invention, as shown in FIGS.
It has a pair of bending blades that bend the workpiece W, has a bend beam 33 that moves in the front-rear direction and the up-down direction, and a top die 31 that clamps the workpiece W in cooperation with the bottom die 32, and moves in the up-down direction. In a panel vendor constituted by a clamp beam 39 and a manipulator 34 that conveys and positions the workpiece W and moves in the front-rear direction,
(1) bending the workpiece W sandwiched between the top die 31 and the bottom die 32 with a bend beam 33;
(2) a step of moving the lower bending blade 33B of the bend beam 33 directly below the bent workpiece tip F2.
(3) Raising the bend beam 33 in a state where the work tip F2 is mounted on the lower bending blade 33B by simultaneously operating the longitudinal movement means and the vertical movement means of the bend beam 33;
(4) By operating the front-rear direction moving means and the vertical direction moving means of the bend beam 33 and the front-rear direction moving means of the manipulator 34 simultaneously, the lower bending blade 33B mounted with the workpiece tip F2 of the raised bend beam 33 is mounted. Moving to the vicinity of the bottom die 32;
(5) retreating the workpiece tip F2 from the lower bending blade 33B moved to the vicinity of the bottom die 32 by operating only the front-rear direction moving means of the manipulator 34, and placing it on the bottom die 32;
(6) The technical means of the work processing control method in the panel bender characterized by comprising the step of performing hemming with the top die 31 on the work tip F2 placed on the bottom die 32.
[0022]
Therefore, according to the configuration of the present invention, for example, in the step (1), if the workpiece W is subjected to reverse bending with the upper bending blade 33A of the bend beam 33, the steps (2) to (4) are performed. After that, in step (5), the tip of the reversely bent workpiece W can be placed on the bottom die 32, so in step (6), reverse bending hemming can be performed and the workpiece processing range is expanded. can do.
[0023]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described with reference to the accompanying drawings by embodiments.
FIG. 1 is an overall view of an embodiment of the present invention. Reference numeral 1 is input means, 2 is arithmetic means, 3 is storage means, 4 is a sequencer, 5 is bend beam control means, 6 is clamp beam control means, 7 Is a manipulator control means.
[0024]
The input means 1 is a keyboard for creating a program 3A that defines the operation procedure of the present invention, and the program 3A is stored in the storage means 3 via the arithmetic means 2 described later (signals S1, S2). .
[0025]
The computing means 2 is, for example, a personal computer, and generates a control code based on the program 3A, and generates positioning data necessary for machining control, which will be described later, according to the operation procedure of the control code. Take control of the entire device.
[0026]
The computing means 2 is composed of a control code generator 2A and a positioning data generator 2B.
[0027]
The control code generation unit 2A generates a control code by calling a program 3A including the shape of the workpiece W, a machining procedure, and the like, and a parameter 3B including the dimensions of the machine, the stroke of each axis, etc. (signal S2), The control code is transmitted to the sequencer 4 (signal S10, signal S3).
[0028]
The positioning data generating unit 2B moves the movement (signal S8) of the A-axis 20 or the like required when the bend beam 33, the clamp beam 39, and the manipulator 34 described later operate, or the acceleration, speed, and deceleration (FIG. 4). (B) and FIG. 5 (B)) are calculated (signal S9), and are transmitted to the sequencer 4 as positioning data (signal S3). These positioning data are displayed on the display 8.
[0029]
The positioning data generation unit 2B is configured by position calculation means 2B1, target value calculation means 2B2, movement amount calculation means 2B3, and acceleration / deceleration calculation means 2B4.
[0030]
When the bend beam 33, the clamp beam 39, and the manipulator 34 move, the position calculation unit 2B1 calculates the position on the YZ plane coordinate of the movement destination.
[0031]
For example, when the lower bending blade 33B of the bend beam 33 is positioned directly below the reversely bent flange F2 (step 103 in FIG. 2, FIG. 3), the position (−4, −9) immediately below is calculated. In the case where the bend beam 33 is raised with the reversely bent flange F2 mounted on the lower bending blade 33B (step 104 in FIG. 2 and FIG. 4), the position (-4, 4) of the rising destination. When the lower bending blade 33B is moved to the vicinity of the bottom die 32 and at the same time the manipulator 34 is retracted (step 105 in FIG. 2, FIG. 5), the position (0, 4) is calculated.
[0032]
Based on the position calculated by the position calculation means 2B1, the target value calculation means 2B2 moves the A-axis 20 as the forward / backward movement means for the bend beam 33, the D-axis 21 as the vertical movement means, and the vertical movement of the clamp beam 39. Target values (pulse values) of the Z axis 22 that is the direction moving means and the Y axis 37 that is the longitudinal movement means of the manipulator 34 are calculated.
[0033]
The movement amount calculation unit 2B2 calculates the movement amounts of the A axis 20, the D axis 21, the Z axis 22, and the Y axis 37 described above based on the target value calculated by the target value calculation unit 2B2.
[0034]
Then, the movement amount calculated by the movement amount calculation means 2B3 is the case where the A axis 20, the D axis 21, the Z axis 22, and the Y axis 37 are not operated simultaneously, that is, in the case of individual movement of each axis (for example, reverse bending processing). (Step 101), when the bend beam 33 is raised (step 102), the lower bending blade 33B of the bend beam 33 is positioned directly below the reversely bent flange F2 (step 103), etc. Are transmitted to the positioning units 5A1, 5B1, 6A, and 7A through the sequencer 4 (signal S8, signal S3), and command values are calculated (for example, step 103D (FIG. 3) constituting step 103 (FIG. 2)) ).
[0035]
However, the movement amount calculated by the movement amount calculation means 2B3 is the same as that in the case of a two-axis interpolation operation in which the A axis 20 and the D axis 21 are simultaneously operated (step 104C (FIG. 4) constituting the step 104 (FIG. 2)). In the case of a three-axis interpolation operation in which the A axis 20, the D axis 21, and the Y axis 37 are simultaneously operated (step 105C (FIG. 5) constituting the step 105 (FIG. 2)), the acceleration / deceleration calculation means 2B4 in the next stage Sent to.
[0036]
The acceleration / deceleration calculation means 2B4 is based on each movement amount calculated by the movement amount calculation means 2B3 in the case of a biaxial interpolation operation (step 104 in FIG. 2) and a triaxial interpolation operation (step 105 in FIG. 2). , Acceleration, speed, and decrease when each axis is simultaneously operated within a predetermined time 0 to t1, t1 to t2, and t2 to t3 (the right diagram in FIG. 4B and the right diagram in FIG. 5B). The speed is calculated (step 104D (FIG. 4) constituting step 104 (FIG. 2), step 105D (FIG. 5) constituting step 105 (FIG. 2)).
[0037]
The acceleration calculated by the acceleration / deceleration calculation means 2B4 is sent to the positioning units 5A1 and 5B1 via the sequencer 4 (signal S9, signal S3) (signal S4, signal S5) in the case of the biaxial interpolation operation. In the case of the three-axis interpolation operation, the signal is transmitted to the positioning units 5A1, 5B1, and 7A (signal S4, signal S5, and signal S7), and the command value is calculated (steps constituting step 104 (FIG. 2)) 104E (FIG. 4), step 105E (FIG. 5) constituting step 105 (FIG. 2)).
[0038]
The sequencer 4 temporarily stores the control code and positioning data transmitted from the computing means 2 and adjusts the control timing (signals S4 to S7) to transmit the control code and positioning data to the bend beam control means 5 described later.
[0039]
Further, the bend beam control means 5 receives a command value based on the movement amount calculated by the movement amount calculation means 2B3 of the positioning data generation unit 2B and each acceleration, speed, and deceleration calculated by the acceleration / deceleration calculation means 2B4. And the bend beam 33 is controlled by operating the A axis 20 and the D axis 21 according to each command value.
[0040]
By this bend beam control means 5, in addition to the movement control of the bend beam 33 itself such as the biaxial interpolation operation (step 104 in FIG. 2) described above, reverse bending using the bend beam 33 (step 101 in FIG. 2). ) The workpiece W is bent.
[0041]
The bend beam control means 5 includes an A-axis control unit 5A that controls the operation of the A-axis 20 and a D-axis control unit 5B that controls the operation of the D-axis 21. The A-axis control unit 5A includes a positioning unit 5A1 and a servo. The amplifier 5A2, the servo motor 5A3, and the encoder 5A4 constitute the D-axis control unit 5B, which includes a positioning unit 5B1, a servo amplifier 5B2, a servo motor 5B3, and an encoder 5B4, respectively.
[0042]
Among them, the positioning units 5A1 and 5B1 respectively calculate command values as target values based on the movement amounts of the A-axis 20 and the D-axis 21 transmitted through the sequencer 4, the acceleration, etc., and the servo amplifier 5A2 5B2 amplifies each command value, and servo motors 5A3 and 5B3 rotate according to each command value to operate A axis 20 and D axis 21, respectively.
[0043]
Further, the A-axis 20 and the D-axis 21 are coupled to the servomotors 5A3 and 5B3, respectively.
[0044]
Both the A-axis 20 and the D-axis 21 are eccentric axes (FIG. 6B), and the A-axis 20 adjusts the clearance between the bend beam 33 and the bottom die 32 by moving the bend beam 33 in the front-rear direction. The D-axis 21 performs the reverse bending process of the workpiece W by moving the bend beam 33 in the vertical direction.
[0045]
The encoders 5A4 and 5B4 feed back each command value to the positioning units 5A1 and 5B1, so that the difference between the target value and the current value is detected as an error signal, and the bend beam 33 is positioned accurately. .
[0046]
The clamp beam control unit 6 calculates a command value based on the movement amount calculated by the movement amount calculation unit 2B3 of the positioning data generation unit 2B, and the Z-axis 22 (FIG. 6B) is calculated based on the command value. By operating, the clamp beam 39 that supports the top die 31 is moved in the vertical direction.
[0047]
For example, when the top die 31 is lowered by the clamp beam control means 6 to perform reverse bending (step 101 in FIG. 2), the workpiece W is sandwiched in cooperation with the bottom die 32, or the reversely bent flange F2 is attached to the bottom die. After placing on 32, reverse bending hemming is performed (step 107 in FIG. 2).
[0048]
The clamp beam control means 6 includes a positioning unit 6A, a servo amplifier 6B, a servo motor 6C, and an encoder 6D.
[0049]
Among these, the positioning unit 6A calculates a command value as a target value based on the movement amount of the Z-axis 22 transmitted via the sequencer 4, and the servo amplifier 6B amplifies the command value to obtain the servo motor 6C. Rotates according to the command value to operate the Z-axis 22.
[0050]
Further, the Z axis 22 is coupled to the servo motor 6C.
[0051]
The Z axis 22 is an eccentric axis (FIG. 6B), and the Z axis 22 moves the clamp beam 39 in the vertical direction, for example, by lowering the top die 31 supported by the clamp beam 39. As described above, the workpiece W is sandwiched in cooperation with the bottom die 32 (step 101 in FIG. 2), or reverse bending hemming is performed (step 107 in FIG. 2).
[0052]
The encoder 6D feeds back the command value to the positioning unit 6A, so that the difference between the target value and the current value is detected as an error signal, and the clamp beam 39 is positioned accurately.
[0053]
The manipulator control unit 7 calculates a command value based on the movement amount calculated by the movement amount calculation unit 2B3 of the positioning data generation unit 2B and each acceleration, speed, and deceleration calculated by the acceleration / deceleration calculation unit 2B4. Then, by operating the Y axis 37 according to the command value, the manipulator 34 is moved in the front-rear direction.
[0054]
This manipulator control means 7 cooperates with the bend beam control means 5 to perform the above-described three-axis interpolation operation (step 105 in FIG. 2), or reversely bend by retracting only the manipulator 34. The flange F2 is placed on the bottom die 32 (step 106 in FIG. 2).
[0055]
The manipulator control means 7 includes a positioning unit 7A, a servo amplifier 7B, a servo motor 7C, and an encoder 7D.
[0056]
Among these, the positioning unit 7A calculates a command value as a target value based on the movement amount of the Y-axis 37 transmitted through the sequencer 4, acceleration, etc., and the servo amplifier 7B amplifies the command value. The servo motor 7C rotates according to the command value and operates the Y axis 37.
[0057]
A Y axis 37 is coupled to the servomotor 7C.
[0058]
The Y-axis 37 is, for example, a ball screw (FIG. 6A), and transports and positions the workpiece W gripped by the clamp means 35 by moving the manipulator 34 in the front-rear direction.
[0059]
The encoder 7D feeds back the command value to the positioning unit 7A, so that the difference between the target value and the current value is detected as an error signal, and the manipulator 34 is positioned accurately.
[0060]
The operation of the present invention having the above configuration will be described below with reference to FIG.
[0061]
First, in step 101, the workpiece W is sandwiched between the top die 31 and the bottom die 32, and the tip portion of the workpiece W is bent downward by the upper bending blade 33A of the bend beam 33, thereby performing reverse bending processing. A bent flange F2 is formed.
[0062]
Next, in step 102, the bend beam 33 is raised. That is, with the A-axis 20 (FIG. 6B) as it is, the D-axis 21 is operated to raise the bend beam 33 to a position where it does not interfere with the work W, and the Y-axis 37 is operated to push the work W.
[0063]
Next, in step 103, the lower bending blade 33B of the bend beam 33 is moved and positioned directly below the reversely bent flange F2.
[0064]
Details of this step 103 are shown in FIG. 3. First, in step 103A, the position calculating means 2B1 (FIG. 1) uses the YZ plane coordinate of the lower bending blade 33B directly below the flange F2 reversely bent. For example, (−4, −9), and in step 103B, based on the position (−4, −9) of the lower bending blade 33B, the target value calculating means 2B2 (FIG. 1) The target values of the A axis 20 and the D axis 21 are calculated, and in step 103C, the movement amount is calculated by the movement amount calculation means 2B3 based on the target values (signal S8).
[0065]
Then, when the movement amount is transmitted to the positioning units 5A1, 5B1 (signal S3) via the sequencer 4 (signal S4, signal S5), the command values of the A axis 20 and D axis 21 are calculated in step 103D. In 103E, the bend beam 33 is moved to a predetermined position by this command value.
[0066]
In step 104, the bend beam 33 is raised with the flange B2 reversely bent mounted on the lower bending blade 33B.
[0067]
Details of this step 104 are shown in FIG. 4. First, in step 104A, the position of the lower bending blade 33B of the bend beam 33 in the case of lifting the reversely bent flange F2 by the position calculating means 2B1 (FIG. 1). For example, (−4, 4) is calculated, and in step 104B, based on this position, the target value calculation means 2B2 calculates target values for the A axis 20 and the D axis 21, and in step 104C, based on the target value. Thus, the movement amount of the A axis 20 and the D axis 21 is calculated by the movement amount calculation means 2B3.
[0068]
In step 104D, acceleration, speed, and deceleration when the A-axis 20 and the D-axis 21 are simultaneously operated are calculated based on the respective movement amounts.
[0069]
That is, according to the present invention, for example, the A axis 20 and the D axis 21 are simultaneously moved within the continuous time 0 to t1, t1 to t2, and t2 to t3 shown in the right diagram of FIG. The bend beam 33 is to be raised so that the bending blade 33B goes straight.
[0070]
Accordingly, the acceleration, speed, and deceleration are simultaneously controlled so that the A-axis 20 and the D-axis 21 simultaneously perform acceleration motion at 0 to t1, perform constant velocity motion at t1 to t2, and perform deceleration motion at t2 to t3. Each must be set.
[0071]
For this reason, the acceleration / deceleration calculating means 2B4 is based on the movement amount of the A axis 20 calculated by the movement amount calculating means 2B2 and the movement amount of the D axis 21, so that the biaxial interpolation operation is possible. And deceleration are calculated respectively.
[0072]
Next, in step 104E, command values are calculated by the positioning units 5A1 and 5B1 based on the respective accelerations, speeds, and decelerations. In step 104F, reverse bending is performed on the lower bending blade 33B using the command values. With the flange F2 mounted (FIG. 4A), the bend beam 33 is controlled and raised to the position (−4, 4).
[0073]
Next, in step 105 in FIG. 2, the lower bending blade 33 </ b> B of the bend beam 33 is moved to the vicinity of the bottom die 32, and at the same time, the manipulator 34 is retracted. That is, the lower bending blade 33B is moved to the vicinity of the bottom die 32 with the reversely bent flange F2 mounted.
[0074]
The details of step 105 are shown in FIG. 5. First, in step 105A, the position of the lower bending blade 33B on which the reversely bent flange F2 is mounted, for example, (0, 4) is calculated. In 105B, the target values of the A-axis 20 and the D-axis 21 are calculated from the position of the lower bending blade 33B, and the target value of the Y-axis 37 is calculated from the position of the lower bending blade 33B on the Y-axis coordinates.
[0075]
Next, in step 105C, the movement amounts of the A axis 20, D axis 21, and Y axis 37 are calculated based on the target values. In step 105D, the A axis 20 and the D axis 21 are calculated based on the movement amounts. The acceleration, speed, and deceleration when the Y axis 37 is operated simultaneously are calculated.
[0076]
That is, in the present invention, for example, the A axis 20, the D axis 21, and the Y axis direction are simultaneously operated in the continuous time 0 to t1, t1 to t2, and t2 to t3 shown in the right diagram of FIG. As a result, the lower bending blade 33B is moved straight to the vicinity of the bottom die 32 and the manipulator 34 is moved backward.
[0077]
Accordingly, the acceleration, velocity, and so on are such that the A-axis 20, the D-axis 21, and the Y-axis 37 simultaneously perform acceleration motion from 0 to t1, perform uniform motion from t1 to t2, and perform deceleration motion from t2 to t3. It is necessary to set the deceleration respectively.
[0078]
For this reason, the acceleration / deceleration calculation means 2B4 is configured so that the acceleration and speed can be adjusted based on the movement amounts of the A-axis 20, D-axis 21 and Y-axis 37 calculated by the movement amount calculation means 2B2. And deceleration are calculated respectively.
[0079]
Next, in step 105E, command values are calculated by the positioning units 5A1, 5B1, and 7A based on the respective accelerations, speeds, and decelerations. In step 105F, the bend beam 33 and the manipulator 34 are moved according to the command values. Simultaneously controlled, the lower bending blade 33B is moved to the position (0, 4) (FIG. 5B) with the reversely bent flange F2 mounted.
[0080]
Further, in step 106 of FIG. 2, the Y axis 37 is controlled to retract only the manipulator 34, whereby the reversely bent flange F2 is placed on the bottom die 32. Finally, in step 107, the Z axis 22 is controlled. The top die 31 is lowered to perform reverse bending hemming.
[0081]
【The invention's effect】
As described above, according to the present invention, the work processing control method in the panel bender is carried out by mounting the work tip portion bent by the biaxial interpolation operation of the A axis and the D axis on the lower bending blade of the bend beam. The lower bending blade mounted with the workpiece tip is moved to the vicinity of the bottom die by the three-axis interpolation operation of the A-axis, D-axis, and Y-axis. By retreating the tip and placing it on the bottom die from the lower bending blade, hemming is performed on the panel vendor. This resulted in the technical effect of expanding the machining range.
[0082]
[Brief description of the drawings]
FIG. 1 is an overall view showing an embodiment of the present invention.
FIG. 2 is a flowchart for explaining the operation of the present invention.
FIG. 3 is a diagram for explaining details of step 103 in FIG. 2;
FIG. 4 is a diagram for explaining details of step 104 in FIG. 2;
FIG. 5 is a diagram for explaining details of step 105 in FIG. 2;
FIG. 6 is an explanatory diagram of a panel vendor that is the subject of the present invention.
FIG. 7 is a diagram illustrating a conventional processing method.
FIG. 8 is a diagram illustrating a problem of a conventional technique.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Input means 2 Calculation means 2A Control code generation part 2B Positioning data generation part 2B1 Position calculation means 2B2 Target value calculation means 2B3 Movement amount calculation means 2B4 Acceleration / deceleration calculation means 3 Storage part 4 Sequencer 5 Bend beam control means 6 Clamp beam control means 7 Manipulator control means 8 Display W Work

Claims (3)

A pair of bending blades for bending the workpiece, a bend beam that moves in the front-rear direction and the up-down direction, a clamp beam that moves in the up-down direction, has a top die that clamps the workpiece in cooperation with the bottom die, and In panel vendors composed of manipulators that transport and position workpieces and move in the front-rear direction,
(1) bending the workpiece sandwiched between the top die and the bottom die with a bend beam;
(2) a step of moving the lower bending blade of the bend beam directly below the tip of the bent workpiece;
(3) a step of raising the bend beam in a state in which the work tip is mounted on the lower bending blade by simultaneously operating the forward / backward moving means and the vertical moving means of the bend beam;
(4) By moving the bend beam longitudinally moving means and the vertically moving means and the manipulator longitudinally moving means simultaneously, the lower bending blade mounted with the workpiece tip of the raised bend beam is moved to the vicinity of the bottom die. A moving step;
(5) retreating the workpiece tip from the lower bending blade that has moved to the vicinity of the bottom die by operating only the longitudinal movement means of the manipulator and placing it on the bottom die;
(6) A work machining control method in a panel vendor, comprising a step of performing hemming with a top die at a work tip placed on a bottom die. In the step (3) above, the workpiece tip is mounted on the lower bending blade by a two-axis interpolation operation of the A axis which is the forward / backward moving means of the bend beam and the D axis which is the upward / downward moving means of the bend beam. 2. The work machining control method in a panel bender according to claim 1, wherein the bend beam is raised in the state. In the step (4), a three-axis interpolation operation of the A-axis that is the bending beam longitudinal movement means, the D-axis that is the bending beam vertical movement means, and the Y-axis that is the longitudinal movement means of the manipulator 2. The work processing control method for a panel bender according to claim 1, wherein the lower bending blade mounted with the workpiece tip of the raised bend beam is moved to the vicinity of the bottom die.

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